rho = 0.05; dimA = 2; dimB = 2; A = zeros(dimA,dimA); dA = 0; [A,dA] = putin(A,dA,conv([1 -1],[1 -1.8629 0.8669]),3,1,1); [A,dA] = putin(A,dA,conv([1 -1],[1 -1.8695 0.8737]),3,2,2); B = zeros(dimA,dimB); dB = 0; [B,dB] = putin(B,dB,[0.0420 -0.038],1,1,1); [B,dB] = putin(B,dB,[0.4758 -0.4559],1,1,2); [B,dB] = putin(B,dB,[0.0582 -0.054],1,2,1); [B,dB] = putin(B,dB,[0.1445 -0.1361],1,2,2); Ny = 3; Nu = 2; j = 1; rG = Ny*dimA; cG = Nu*dimB; G = zeros(rG,cG); H1 = zeros(rG,dimB); H2 = []; for j = 1:Ny, [zj,dzj] = zpowk(j); Zj = zeros(2,2); dZj = 0; [Zj,dZj] = putin(Zj,dZj,zj,dzj,1,1); [Zj,dZj] = putin(Zj,dZj,zj,dzj,2,2); [Fj,dFj,Ej,dEj] = xdync(Zj,dZj,A,dA,eye(2),0); [Gj,dGj] = polmul(Ej,dEj,B,dB); m = min(j,Nu); Gold = extc(Gj,dGj,j); H1 = b_dyn(H1,Gold,j,1); for k = 1:m, Gnew = extc(Gj,dGj,j-k); G = b_dyn(G,Gnew,j,k); end H2 = [H2 Fj]; end K = inv(G'*G+rho*eye(cG))*G' KH1 = K*H1 KH2 = K*H2 Zj = 0 0 1 0 0 0 0 1 dZj = 1 Fj = 2.8629 0 -2.7298 0 0.8669 0 0 2.8695 0 -2.7432 0 0.8737 dFj = 2 Ej = 1 0 0 1 dEj = 0 Gj = 0.0420 0.4758 -0.0380 -0.4559 0.0582 0.1445 -0.0540 -0.1361 dGj = 1 m = 1 Gold = -0.0380 -0.4559 -0.0540 -0.1361 H1 = -0.0380 -0.4559 -0.0540 -0.1361 0 0 0 0 0 0 0 0 Gnew = 0.0420 0.4758 0.0582 0.1445 G = 0.0420 0.4758 0 0 0.0582 0.1445 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 H2 = 2.8629 0 -2.7298 0 0.8669 0 0 2.8695 0 -2.7432 0 0.8737 zj = 0 0 1 dzj = 2 Zj = 0 0 0 0 dZj = 0 Zj = 0 0 0 0 1 0 0 0 0 0 0 0 dZj = 2 Zj = 0 0 0 0 1 0 0 0 0 0 0 1 dZj = 2 Fj = 5.4664 0 -6.9482 0 2.4818 0 0 5.4908 0 -6.9979 0 2.5071 dFj = 2 Ej = 1.0000 0 2.8629 0 0 1.0000 0 2.8695 dEj = 1 Gj = 0.0420 0.4758 0.0822 0.9063 -0.1088 -1.3052 0.0582 0.1445 0.1130 0.2785 -0.1550 -0.3905 dGj = 2 m = 2 Gold = -0.1088 -1.3052 -0.1550 -0.3905 H1 = -0.0380 -0.4559 -0.0540 -0.1361 -0.1088 -1.3052 -0.1550 -0.3905 0 0 0 0 Gnew = 0.0822 0.9063 0.1130 0.2785 G = 0.0420 0.4758 0 0 0.0582 0.1445 0 0 0.0822 0.9063 0 0 0.1130 0.2785 0 0 0 0 0 0 0 0 0 0 Gnew = 0.0420 0.4758 0.0582 0.1445 G = 0.0420 0.4758 0 0 0.0582 0.1445 0 0 0.0822 0.9063 0.0420 0.4758 0.1130 0.2785 0.0582 0.1445 0 0 0 0 0 0 0 0 H2 = 2.8629 0 -2.7298 0 0.8669 0 0 2.8695 0 -2.7432 0 0.8737 5.4664 0 -6.9482 0 2.4818 0 0 5.4908 0 -6.9979 0 2.5071 zj = 0 0 0 1 dzj = 3 Zj = 0 0 0 0 dZj = 0 Zj = 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 dZj = 3 Zj = 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 dZj = 3 Fj = 8.7015 0 -12.4403 0 4.7388 0 0 8.7580 0 -12.5554 0 4.7973 dFj = 2 Ej = 1.0000 0 2.8629 0 5.4664 0 0 1.0000 0 2.8695 0 5.4908 dEj = 2 Gj = 0.0420 0.4758 0.0822 0.9063 0.1208 1.2957 -0.2077 -2.4921 0.0582 0.1445 0.1130 0.2785 0.1646 0.4029 -0.2965 -0.7473 dGj = 3 m = 2 Gold = -0.2077 -2.4921 -0.2965 -0.7473 H1 = -0.0380 -0.4559 -0.0540 -0.1361 -0.1088 -1.3052 -0.1550 -0.3905 -0.2077 -2.4921 -0.2965 -0.7473 Gnew = 0.1208 1.2957 0.1646 0.4029 G = 0.0420 0.4758 0 0 0.0582 0.1445 0 0 0.0822 0.9063 0.0420 0.4758 0.1130 0.2785 0.0582 0.1445 0.1208 1.2957 0 0 0.1646 0.4029 0 0 Gnew = 0.0822 0.9063 0.1130 0.2785 G = 0.0420 0.4758 0 0 0.0582 0.1445 0 0 0.0822 0.9063 0.0420 0.4758 0.1130 0.2785 0.0582 0.1445 0.1208 1.2957 0.0822 0.9063 0.1646 0.4029 0.1130 0.2785 H2 = 2.8629 0 -2.7298 0 0.8669 0 0 2.8695 0 -2.7432 0 0.8737 5.4664 0 -6.9482 0 2.4818 0 0 5.4908 0 -6.9979 0 2.5071 8.7015 0 -12.4403 0 4.7388 0 0 8.7580 0 -12.5554 0 4.7973 K = -0.0786 0.6163 -0.2763 1.0011 -0.4322 1.3661 1.0593 0.2577 0.4888 0.0324 -0.0303 -0.1777 -0.1375 -0.1922 -0.1959 0.4494 -0.2163 1.0564 -1.5275 -0.4657 -0.2500 -0.1537 0.9026 0.1346 KH1 = -0.4706 -0.0221 -0.0534 -0.9604 -0.3010 -0.0815 -0.0932 -1.2040 KH2 = -5.4965 19.2300 7.5116 -25.8486 -2.8022 9.6021 5.4414 -0.6392 -5.9117 1.2978 1.9881 -0.5462 -3.3464 11.1684 4.4270 -15.8816 -1.6303 6.0269 2.1146 -1.0015 -5.3222 0.6632 2.3327 -0.1465